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<pre name="code" class="cpp">#include "cv.h"
#include "cvaux.h"
#include "cxcore.h"
#include "highgui.h"
#include <highgui.h>
#include <cv.h>
#include <cxcore.h>
#include <iostream>
using namespace std;
using namespace cv;

//reference: OpenCV1.1 cvref.htm
//by Gong Peiliang in SIA, CAS;
//11-11 2008
//东门吹雪
int main( int argc, char** argv)
{
IplImage * cv_left_rectified;
IplImage * cv_right_rectified;

//note the sequence of the stereo pairs
cv_left_rectified = cvLoadImage( "right.jpg", CV_LOAD_IMAGE_GRAYSCALE);
cv_right_rectified = cvLoadImage( "left.jpg", CV_LOAD_IMAGE_GRAYSCALE);
CvSize size = cvGetSize( cv_left_rectified );
//the disparity map is an array h*w, with 16bit signed elements.
CvMat* disparity_left = cvCreateMat( size.height, size.width, CV_16S );
CvMat* disparity_right = cvCreateMat( size.height, size.width, CV_16S );
CvStereoGCState* state = cvCreateStereoGCState( 16, 2 );
cvFindStereoCorrespondenceGC( cv_left_rectified,
  cv_right_rectified,
  disparity_left,
  disparity_right,
  state,
  0 );
cvReleaseStereoGCState( &state );
    //post-progressing the result
CvMat* disparity_left_visual = cvCreateMat( size.height, size.width, CV_8U );
cvConvertScale( disparity_left, disparity_left_visual, -16 );
cvSave( "disparity.png", disparity_left_visual );

cvNamedWindow( "disparity", 1);
cvShowImage("disparity", disparity_left_visual );
cvWaitKey( 0 );
cvDestroyWindow( "disparity" );
return 0;
}